Cleaning Logic
1. Edge-following
The robot follows the edge to map the entire pool while planning the bottom cleaning path.
2. Cleaning path:
A. If mapping succeeds: two rounds of S-pattern bottom cleaning (edge-following + S-pattern).
B. If mapping fails: two rounds of DeepSense cleaning (continuous large S-pattern direction changes) + random path cleaning (total time: 2.5 hours).
3. Return process:
After cleaning, the robot randomly selects a direction to climb the wall, surfaces, and the water pump runs for 20 minutes waiting for user retrieval.
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